version: 66.06
glider: 139
mission: 8
dive: 725
start: 10 21 110 4 12 43
data:
$ID,139
$MISSION,8
$DIVE,725
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,190
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2166464.2
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2630
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,040601,2111.790,-15755.679,42,1.2,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-74.7
$GPS2,041225,2111.770,-15755.714,16,1.0,21,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,106.7,24707,-16.6,-7.895
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,428,1484,2764,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.7,-3.9,12,109,12.65,0.00,-6.45,0.000,6,0.133,0.000,2783,1485,3109,0,0,0,0,0,0
$GC,305,-0.95,-116.8,42.5,-15.0,49,310,0.25,2.35,0.00,0.000,4,0.091,0.019,2838,2923,3112,0,0,0,0,0,0
$GC,332,-0.88,-116.8,46.0,-11.8,51,336,0.00,2.42,0.00,0.000,6,0.000,0.034,2838,1502,3112,0,0,0,0,0,0
$GC,598,-0.80,-116.8,74.9,-10.4,72,603,0.17,2.20,0.00,0.000,4,0.085,0.046,2876,231,3113,0,0,0,0,0,0
$GC,652,-0.80,-116.8,80.2,-9.2,76,656,0.00,2.08,0.00,0.000,6,0.000,0.018,2876,1560,3113,0,0,0,0,0,0
$GC,920,-0.85,-116.8,102.7,-9.4,97,924,0.00,2.28,0.00,0.000,4,0.000,0.044,2876,228,3113,0,0,0,0,0,0
$GC,985,-0.94,-116.8,109.4,-9.1,102,990,0.15,2.08,0.00,0.000,6,0.054,0.018,2824,1567,3114,0,0,0,0,0,0
$GC,1254,-0.94,-116.8,132.4,-7.6,123,1258,0.10,2.30,0.00,0.000,4,0.099,0.045,2847,231,3114,0,0,0,0,0,0
$GC,1301,-0.99,-116.8,136.0,-6.2,126,1308,0.00,2.08,0.00,0.000,6,0.000,0.018,2846,1563,3114,0,0,0,0,0,0
$GC,1565,-1.03,-116.8,151.6,-6.1,147,1569,0.00,2.25,0.00,0.000,4,0.000,0.044,2847,235,3115,0,0,0,0,0,0
$GC,1605,-1.06,-116.8,154.5,-6.7,150,1610,0.12,2.08,0.00,0.000,6,0.061,0.018,2800,1570,3115,0,0,0,0,0,0
$GC,1874,-1.02,-116.8,176.8,-8.6,171,1878,0.12,2.30,0.00,0.000,4,0.092,0.047,2828,235,3115,0,0,0,0,0,0
$GC,1940,-1.02,-116.8,182.7,-7.7,176,1944,0.00,2.08,0.00,0.000,6,0.000,0.019,2828,1568,3115,0,0,0,0,0,0
$GC,2215,-1.02,-116.8,201.4,-6.6,197,2219,0.00,2.30,0.00,0.000,4,0.000,0.045,2828,233,3115,0,0,0,0,0,0
$GC,2257,-1.02,-116.8,205.1,-8.0,198,2263,0.00,2.10,0.00,0.000,6,0.000,0.020,2828,1562,3115,0,0,0,0,0,0
$GC,2573,-1.02,-116.8,224.9,-5.8,214,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1563,3115,0,0,0,0,0,0
$GC,2885,-1.05,-116.8,245.2,-6.6,229,2889,0.00,2.28,0.00,0.000,4,0.000,0.048,2828,231,3114,0,0,0,0,0,0
$GC,2941,-1.09,-116.8,249.1,-6.3,231,2945,0.00,2.08,0.00,0.000,6,0.000,0.021,2828,1555,3114,0,0,0,0,0,0
$GC,3258,-1.14,-116.8,265.8,-5.0,246,3263,0.12,2.30,0.00,0.000,4,0.062,0.048,2783,227,3113,0,0,0,0,0,0
$GC,3296,-1.05,-116.8,268.7,-8.1,247,3302,0.17,2.10,0.00,0.000,6,0.081,0.021,2822,1554,3113,0,0,0,0,0,0
$GC,3617,-1.09,-116.8,289.2,-7.4,263,3621,0.00,2.28,0.00,0.000,4,0.000,0.049,2822,234,3112,0,0,0,0,0,0
$GC,3644,-1.09,-116.8,291.8,-8.1,264,3648,0.00,2.10,0.00,0.000,6,0.000,0.021,2822,1561,3112,0,0,0,0,0,0
$GC,3962,-1.13,-116.8,314.5,-6.9,275,3966,0.00,2.30,0.00,0.000,4,0.000,0.049,2822,228,3111,0,0,0,0,0,0
$GC,4007,-1.17,-116.8,317.7,-7.6,276,4011,0.12,2.10,0.00,0.000,6,0.064,0.022,2780,1550,3110,0,0,0,0,0,0
$GC,4338,-1.12,-116.8,347.1,-9.1,284,4343,0.12,2.20,0.00,0.000,4,0.092,0.025,2807,2881,3108,0,0,0,0,0,0
$GC,4387,-1.20,-116.8,351.5,-8.7,285,4391,0.00,2.33,0.00,0.000,6,0.000,0.035,2807,1497,3108,0,0,0,0,0,0
$GC,4710,-1.20,-116.8,377.7,-8.1,293,4713,0.00,2.15,0.00,0.000,4,0.000,0.051,2806,236,3107,0,0,0,0,0,0
$GC,4728,-1.20,-116.8,379.3,-8.3,293,4732,0.00,2.00,0.00,0.000,6,0.000,0.023,2806,1497,3106,0,0,0,0,0,0
$GC,5078,-1.20,-116.8,409.3,-9.0,302,5082,0.00,2.17,0.00,0.000,4,0.000,0.052,2807,234,3104,0,0,0,0,0,0
$GC,5121,-1.20,-116.8,413.7,-10.4,303,5125,0.00,2.03,0.00,0.000,6,0.000,0.024,2807,1499,3104,0,0,0,0,0,0
$GC,5455,-1.24,-116.8,442.7,-8.2,311,5460,0.12,2.30,0.00,0.000,4,0.065,0.028,2765,2887,3103,0,0,0,0,0,0
$GC,5493,-1.24,-116.8,446.4,-8.9,311,5498,0.00,2.38,0.00,0.000,6,0.000,0.039,2766,1503,3102,0,0,0,0,0,0
$STATE,5537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5537,begin apogee
$GC,5543,-0.31,0.0,450.7,9.4,313,5643,1.00,0.00,96.85,0.817,6,0.068,0.000,2980,1503,2630,0,0,0,0,0,0
$STATE,5644,end apogee,CONTROL_FINISHED_OK
$STATE,5644,begin climb
$GC,5648,1.18,116.8,453.0,0.0,315,5755,1.45,0.00,102.43,0.803,6,0.035,0.000,3315,1503,2153,0,0,0,0,0,0
$GC,6065,0.94,116.8,430.4,7.9,326,6070,0.28,2.28,0.00,0.000,4,0.093,0.026,3257,2862,2143,0,0,0,0,0,0
$GC,6203,0.95,175.8,421.9,5.2,329,6260,0.00,2.42,51.45,0.787,6,0.000,0.040,3257,1475,1913,0,0,0,0,0,0
$GC,6574,0.88,175.8,392.8,8.2,338,6578,0.00,2.17,0.00,0.000,4,0.000,0.056,3257,235,1905,0,0,0,0,0,0
$GC,6672,0.74,175.8,383.1,9.6,340,6677,0.22,2.05,0.00,0.000,6,0.093,0.026,3213,1491,1901,0,0,0,0,0,0
$GC,7001,0.83,208.2,360.8,6.4,348,7034,0.00,2.28,28.10,0.756,4,0.000,0.054,3212,235,1780,0,0,0,0,0,0
$GC,7084,0.84,221.5,355.2,7.3,349,7102,0.00,2.05,12.80,0.700,6,0.000,0.027,3212,1488,1727,0,0,0,0,0,0
$GC,7418,0.95,259.1,334.1,6.2,358,7461,0.20,2.38,33.88,0.744,4,0.054,0.028,3266,2856,1573,0,0,0,0,0,0
$GC,7474,0.92,259.1,329.6,8.5,359,7479,0.00,2.42,0.00,0.000,6,0.000,0.042,3266,1480,1572,0,0,0,0,0,0
$GC,7794,0.88,259.1,300.9,9.0,367,7799,0.12,2.22,0.00,0.000,4,0.100,0.058,3241,236,1569,0,0,0,0,0,0
$GC,7843,0.85,259.1,296.5,9.5,368,7847,0.00,2.03,0.00,0.000,6,0.000,0.027,3240,1474,1566,0,0,0,0,0,0
$GC,8172,0.85,263.0,271.0,7.7,384,8176,0.00,2.22,0.00,0.000,4,0.000,0.056,3241,228,1565,0,0,0,0,0,0
$GC,8195,0.82,263.0,269.0,8.5,385,8199,0.00,2.03,0.00,0.000,6,0.000,0.028,3241,1484,1563,0,0,0,0,0,0
$GC,8523,0.90,296.6,247.5,6.4,401,8561,0.00,2.25,32.40,0.690,4,0.000,0.054,3241,232,1419,0,0,0,0,0,0
$GC,8610,0.90,296.6,240.6,9.3,404,8614,0.00,2.03,0.00,0.000,6,0.000,0.026,3241,1483,1415,0,0,0,0,0,0
$GC,8941,0.99,318.8,215.0,6.9,420,8968,0.10,2.28,19.55,0.646,4,0.078,0.054,3272,242,1329,0,0,0,0,0,0
$GC,9043,0.94,318.8,205.0,11.1,424,9047,0.00,2.00,0.00,0.000,6,0.000,0.025,3272,1478,1325,0,0,0,0,0,0
$GC,9366,0.94,318.8,173.7,9.8,448,9370,0.00,2.22,0.00,0.000,4,0.000,0.054,3272,231,1324,0,0,0,0,0,0
$GC,9398,0.89,318.8,170.1,10.9,450,9405,0.12,2.05,0.00,0.000,6,0.074,0.025,3242,1481,1323,0,0,0,0,0,0
$GC,9662,1.02,359.3,152.7,6.1,471,9703,0.15,2.30,34.97,0.613,4,0.060,0.053,3286,235,1164,0,0,0,0,0,0
$GC,9748,0.95,359.3,144.8,11.6,477,9752,0.15,2.03,0.00,0.000,6,0.091,0.024,3256,1482,1161,0,0,0,0,0,0
$GC,10014,1.03,360.6,121.5,7.8,498,10018,0.00,2.20,0.00,0.000,4,0.000,0.051,3256,233,1160,0,0,0,0,0,0
$GC,10066,1.08,365.0,117.6,7.7,501,10078,0.12,2.00,5.40,0.441,6,0.065,0.024,3297,1490,1141,0,0,0,0,0,0
$GC,10338,1.08,365.0,93.8,8.3,523,10342,0.00,2.25,0.00,0.000,4,0.000,0.023,3298,2868,1141,0,0,0,0,0,0
$GC,10359,1.13,365.0,92.0,8.2,524,10365,0.00,2.42,0.00,0.000,6,0.000,0.038,3298,1482,1141,0,0,0,0,0,0
$GC,10618,1.15,388.1,72.2,6.9,545,10648,0.00,2.25,21.08,0.525,4,0.000,0.051,3297,232,1046,0,0,0,0,0,0
$GC,10734,1.15,388.1,61.4,10.5,553,10738,0.00,1.98,0.00,0.000,6,0.000,0.021,3297,1478,1043,0,0,0,0,0,0
$GC,11000,1.22,388.1,37.3,9.4,574,11004,0.00,2.17,0.00,0.000,4,0.000,0.049,3297,233,1042,0,0,0,0,0,0
$GC,11059,1.22,388.1,30.4,11.2,578,11066,0.00,2.03,0.00,0.000,6,0.000,0.021,3297,1501,1041,0,0,0,0,0,0
$GC,11324,1.28,388.1,7.1,9.4,637,11331,0.12,2.25,0.00,0.000,4,0.061,0.052,3341,238,1041,0,0,0,0,0,0
$STATE,11361,end climb,SURFACE_DEPTH_REACHED
$STATE,11361,begin surface coast
$FINISH,1.1,1.023222
$STATE,11388,end surface coast,CONTROL_FINISHED_OK
$STATE,11391,begin surface
$SM_CCo,11416,18.23,0.459,0,0,958,410.14
$SM_GC,1.91,0.00,0.00,18.23,0.000,0.000,0.459,425,1497,958,-12.07,-0.08,410.14
$IRIDIUM_FIX,2104.07,-15757.32,150100,000027
$TT8_MAMPS,0.029146
$HUMID,63.38
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.3,68.516
$10V_AH,10.0,55.456
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.800,131.225,438.900,18.225,0.000,25.574,36.750,174.267,4.500,0.000,21.899,1283.360,7470.479,510.657,1970.644,576.129,0.000,1393.337,0.000,1945.826,0.000,29.252,0.000
$DEVICE_MAMPS,132.691,57.525,816.855,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.109,421.333,929.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,35016,651
$CAP_FILE_SIZE,130578,0
$CFSIZE,260165632,173449216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211010,072428,2111.581,-15754.635,12,2.4,31,9.8